cuikatlastrrt.c File Reference

Detailed Description

Defines an atlas RRT on a manifold but considering a cost function so that low cost regions are explored first. The exploration is guided by the method described in

 L. Jaillet, J. Cortes, T. Simeon,
 Sampling-based path planning on configuration-space costmaps
 IEEE Transactions on Robotics, Vol. 26(4), pp. 635 - 646, 2010.
 http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5477164

See Also

world.h world.c cuikplan.c

Definition in file cuikatlastrrt.c.

Functions
int	main (int argc, char **arg)
	Main body of the cuikatlastrrt application. More...

Function Documentation

int main	(	int	argc,
		char **	arg
	)

Main body of the cuikatlastrrt application.

Use:

• cuikatlastrrt problem_name.world

where

• problem_name contains the world information, including the mechanism and the obstacles. The name is also used to read the sample file including the origin/goal poses.

The .world extension is optional.

Parameters

argc	Number of elements in the command line that starts the application (i.e., the cuikatlastrrt command itself and its arguments).
arg	Strings with the arguments.

Returns

EXIT_SUCCESS (0) if the execution worked out fine and EXIT_FAILURE if not.

Definition at line 79 of file cuikatlastrrt.c.

References ADJUST_SA, ADJUST_SR, ATLASRRT_GLOBAL_NN, ATLASRRT_VERBOSE, AtlasRRTMemSize(), AtlasTRRT(), CreateFileName(), CS_WD_COST_FN, CS_WD_COST_PTR, CS_WD_DELETE, CS_WD_EXT, CS_WD_GET_NUM_SYSTEM_VARS, CS_WD_INIT, CT_DETECT_BIFURCATIONS, DeleteAtlasRRT(), DeleteAtlasRRTStatistics(), DeleteAverages(), DeleteFileName(), DeleteParameters(), DeleteSamples(), Error(), EXPLORATION_RRT, FALSE, GET_ATLASRRT_GLOBAL_CURV_CHECK, GET_ATLASRRT_STATISTICS, GetAtlasRRTNumCharts(), GetAtlasRRTNumNodes(), GetFileFullName(), GetParameter(), InitAtlasRRT(), InitAtlasRRTStatistics(), InitAverages(), InitParametersFromFile(), MOV_AVG_DOWN, MOV_AVG_UP, NEW, NewSuccesfulExperiment(), NO_UINT, ONE_TREE, PARAM_EXT, PrintAtlasRRTStatistics(), PrintAverages(), PrintAveragesHeader(), PrintParameters(), randomSet(), ReadOneSample(), ReadTwoSamples(), SaveAtlasRRT(), SaveSamples(), TRUE, USE_ATLAS_TREE, and Warning().